KR101728123B1 - 지구 자기장을 이용한 동시 로컬리제이션 및 매핑 - Google Patents
지구 자기장을 이용한 동시 로컬리제이션 및 매핑 Download PDFInfo
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- KR101728123B1 KR101728123B1 KR1020150128453A KR20150128453A KR101728123B1 KR 101728123 B1 KR101728123 B1 KR 101728123B1 KR 1020150128453 A KR1020150128453 A KR 1020150128453A KR 20150128453 A KR20150128453 A KR 20150128453A KR 101728123 B1 KR101728123 B1 KR 101728123B1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/02—Magnetic compasses
- G01C17/28—Electromagnetic compasses
- G01C17/30—Earth-inductor compasses
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/14—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by recording the course traversed by the object
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1654—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with electromagnetic compass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/10—Plotting field distribution ; Measuring field distribution
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0252—Radio frequency fingerprinting
- G01S5/02521—Radio frequency fingerprinting using a radio-map
- G01S5/02522—The radio-map containing measured values of non-radio values
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
- G01S5/0263—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems
- G01S5/0264—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems at least one of the systems being a non-radio wave positioning system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/40—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for measuring magnetic field characteristics of the earth
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V7/00—Measuring gravitational fields or waves; Gravimetric prospecting or detecting
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
- G01S2205/02—Indoor
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/524,420 | 2014-10-27 | ||
US14/524,420 US9476717B2 (en) | 2014-10-27 | 2014-10-27 | Simultaneous localization and mapping by using Earth's magnetic fields |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20160049447A KR20160049447A (ko) | 2016-05-09 |
KR101728123B1 true KR101728123B1 (ko) | 2017-04-18 |
Family
ID=54352472
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020150128453A KR101728123B1 (ko) | 2014-10-27 | 2015-09-10 | 지구 자기장을 이용한 동시 로컬리제이션 및 매핑 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9476717B2 (ja) |
EP (1) | EP3213031B1 (ja) |
JP (1) | JP2017535792A (ja) |
KR (1) | KR101728123B1 (ja) |
WO (1) | WO2016066602A1 (ja) |
Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EA201890682A1 (ru) * | 2015-09-10 | 2018-08-31 | СиПиДжи ТЕКНОЛОДЖИЗ, ЭлЭлСи | Определение географического местоположения с использованием направляемых поверхностных волн |
KR102056720B1 (ko) * | 2015-11-05 | 2020-01-22 | 한국전자통신연구원 | 링크 형 격자 핑거프린트 데이터베이스 생성 방법 및 장치 |
US20190212152A1 (en) * | 2016-05-10 | 2019-07-11 | Indooratlas Oy | Measurement data processing |
JP6089133B1 (ja) * | 2016-05-23 | 2017-03-01 | 三菱日立パワーシステムズ株式会社 | 三次元データ表示装置、三次元データ表示方法、およびプログラム |
US10511951B2 (en) | 2017-01-17 | 2019-12-17 | 3AM Innovations LLC | Tracking and accountability device and system |
JP6812075B2 (ja) * | 2017-01-17 | 2021-01-13 | 株式会社トプコン | 磁場マップ作成方法及び磁場マップ作成装置及び測位方法 |
WO2018151787A1 (en) | 2017-02-17 | 2018-08-23 | Commscope Technologies Llc | Method and system for aggregation and presentation of electromagnetic field data |
CN110741395B (zh) | 2017-06-12 | 2023-10-10 | 鹰图公司 | 现场命令视觉 |
US11075776B2 (en) * | 2017-06-13 | 2021-07-27 | Honeywell International Inc. | Systems and methods for indoor tracking via Wi-Fi fingerprinting and electromagnetic fingerprinting |
US11366184B2 (en) | 2017-06-13 | 2022-06-21 | Sony Semiconductor Solutions Corporation | Position determination device and method |
US11252934B1 (en) * | 2017-08-11 | 2022-02-22 | Timothy D. Cathey | Compositions for use in animal housing |
US10165407B1 (en) * | 2018-01-04 | 2018-12-25 | Mapsted Corp. | Magnetic landmark method and system for detecting in-building (local venue) threshold |
US20200393573A1 (en) | 2018-02-19 | 2020-12-17 | Indooratlas Oy | Control apparatus, method and computer program code for controlling indoor positioning transitions |
WO2019180160A1 (fr) | 2018-03-21 | 2019-09-26 | Solo Agilis | Procédé de géolocalisation dans un bâtiment dit ips et dispositif mettant en œuvre ledit procédé |
FR3079307A1 (fr) * | 2018-03-21 | 2019-09-27 | Solo Agilis | Procede de geolocalisation dans un batiment dite ips et dispositif mettant en oeuvre ledit procede |
TWI721665B (zh) | 2019-11-22 | 2021-03-11 | 光禾感知科技股份有限公司 | 基於磁場強度的定位系統和定位方法 |
KR20210112664A (ko) * | 2020-03-05 | 2021-09-15 | 삼성전자주식회사 | 위치 판단 방법 및 이를 지원하는 전자 장치 |
WO2021257725A1 (en) * | 2020-06-17 | 2021-12-23 | Astra Navigation, Inc. | Correlating overlapping magnetic measurement data from multiple magnetic navigation devices and updating a geomagnetic map with that data |
US20210396524A1 (en) | 2020-06-17 | 2021-12-23 | Astra Navigation, Inc. | Generating a Geomagnetic Map |
CN112230243B (zh) * | 2020-10-28 | 2022-04-08 | 西南科技大学 | 一种移动机器人室内地图构建方法 |
US20220136832A1 (en) * | 2020-10-30 | 2022-05-05 | Invensense, Inc. | Method and system for magnetic-based collaborative positioning |
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WO2011152645A2 (en) * | 2010-05-31 | 2011-12-08 | Samsung Electronics Co., Ltd. | Apparatus and method for recognizing zone in portable terminal |
KR101140045B1 (ko) | 2010-12-23 | 2012-05-02 | 연세대학교 산학협력단 | 사용자 위치 추적 방법 및 장치 |
US20130177208A1 (en) * | 2012-01-11 | 2013-07-11 | Indooratlas Oy | Generating magnetic field map for indoor positioning |
US20130310069A1 (en) * | 2012-01-11 | 2013-11-21 | Indooratlas Oy | Utilizing magnetic field based navigation |
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US8498811B2 (en) * | 2011-02-09 | 2013-07-30 | SenionLab AB | Method and device for indoor positioning |
KR101951198B1 (ko) * | 2011-09-26 | 2019-02-25 | 삼성전자주식회사 | 측위 정확도 산출 방법 및 장치와 이를 이용한 단말의 측위 방법 및 장치 |
US9151621B2 (en) * | 2012-01-11 | 2015-10-06 | Indooratlas Oy | Indoor magnetic field based location discovery |
JP5867223B2 (ja) * | 2012-03-26 | 2016-02-24 | 富士通株式会社 | 測位システム,サーバ,携帯端末,測位方法及びプログラム |
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KR101887422B1 (ko) | 2012-11-19 | 2018-09-10 | 삼성전자주식회사 | 설정된 디바이스의 위치정보를 디스플레이하는 전자 장치 및 방법 |
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KR102044354B1 (ko) * | 2012-12-20 | 2019-11-13 | 삼성전자주식회사 | 데이터베이스 구축을 위한 자기장 맵을 생성하는 방법 및 장치 |
US9326103B2 (en) * | 2013-07-12 | 2016-04-26 | Microsoft Technology Licensing, Llc | Indoor location-finding using magnetic field anomalies |
KR101527211B1 (ko) * | 2013-10-07 | 2015-06-09 | 아이데카 주식회사 | 자기장 맵을 구축하는 방법 및 시스템 |
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2014
- 2014-10-27 US US14/524,420 patent/US9476717B2/en active Active
-
2015
- 2015-09-10 KR KR1020150128453A patent/KR101728123B1/ko active IP Right Grant
- 2015-10-27 JP JP2017541166A patent/JP2017535792A/ja active Pending
- 2015-10-27 EP EP15784959.7A patent/EP3213031B1/en active Active
- 2015-10-27 WO PCT/EP2015/074788 patent/WO2016066602A1/en active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2011152645A2 (en) * | 2010-05-31 | 2011-12-08 | Samsung Electronics Co., Ltd. | Apparatus and method for recognizing zone in portable terminal |
KR101140045B1 (ko) | 2010-12-23 | 2012-05-02 | 연세대학교 산학협력단 | 사용자 위치 추적 방법 및 장치 |
US20130177208A1 (en) * | 2012-01-11 | 2013-07-11 | Indooratlas Oy | Generating magnetic field map for indoor positioning |
US20130310069A1 (en) * | 2012-01-11 | 2013-11-21 | Indooratlas Oy | Utilizing magnetic field based navigation |
Also Published As
Publication number | Publication date |
---|---|
EP3213031B1 (en) | 2020-11-25 |
US9476717B2 (en) | 2016-10-25 |
KR20160049447A (ko) | 2016-05-09 |
EP3213031A1 (en) | 2017-09-06 |
US20160116290A1 (en) | 2016-04-28 |
JP2017535792A (ja) | 2017-11-30 |
WO2016066602A1 (en) | 2016-05-06 |
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